Research On Stable Adsorption Of Vacuum Negative Pressure Wheeled Wall Climbing Robot

With the development of social economy,life,industry,military and other aspects of the high-rise wall operation requirements are more and more high,now the wall climbing robot has been successfully applied to high-rise maintenance,cleaning,welding,reconnaissance and other dangerous operations for manual,However,the stable adsorption performance of the robot is still a difficult problem for the wallclimbing robot to move quickly on the wall surface to achieve accurate operation.This paper designs a negative pressure wheeled wall climbing robot with a spring pressure regulating device.The whole machine is composed of three parts: moving module,spring pressure regulating device and adsorption system.The robot can overcome the friction between the vacuum cavity and the wall by driving the friction between the friction wheel and the wall to move.At the same time,the static and dynamic mechanical modeling of the core adsorption system are respectively analyzed,and the static and dynamic safe adsorption conditions are solved.In order to realize stable adsorption control,firstly,the kinematics and dynamics of the robot were analyzed,and the corresponding kinematics and dynamics differential equation was established.The mathematical model of brushless DC motor was built by Simulink,and the mechanical and electrical coupling model of the robot was brought into the dynamics differential equation.Then,the mechanical and electrical coupling model of the robot and the changing characteristics of the motor are simulated respectively to verify that the established mechanical and electrical coupling model meets the theoretical and practical requirements.Based on the electromechanical coupling model established,the rigid-flexible coupling model of the adsorption system of the robot was analyzed and modeled,and the adsorption control parameters were determined.The adsorption control parameters were identified by combining with a large number of vacuum airflow experimental data obtained in the experiment,and the stable flow differential equation corresponding to the moving velocity was determined.According to the differential equation,a double closed-loop control strategy for stable adsorption was designed.After electromechanical coupling simulation was carried out to verify the strategy,particle swarm optimization algorithm was used to optimize the designed control strategy,which improved the response speed of the robot in flow,pressure and moving speed.The prototype of the negative pressure wheeled wall-climbing robot was assembled and debugged,and the adsorption test platform was built for test verification.Firstly,the motion performance of the robot was tested,showing that the robot has flexible maneuvering performance.Then,three working conditions were tested respectively on the vertical wall.Compared with the traditional PID algorithm,the optimized stable adsorption strategy can improve the response speed significantly.Finally,the load performance of the robot and the adsorption adaptability of different wall surfaces are tested.The effectiveness of the proposed strategy is verified by both theory and experiment,which can improve the stable adsorption performance of the wall-climbing robot and provide a reference for the wide application of the wall-climbing robot.